First information is about respective depths of pixel coordinates within an image. Second information is about respective depths of the pixel coordinates within a ground plane. In response to comparing the first information against the second information, respective markings are generated to identify whether any one or more of the pixel coordinates within the image has significant protrusion from the ground plane. In response to a particular depth of a representative pixel coordinate within the image, a window of pixel coordinates is identified that is formed by different pixel coordinates and the representative pixel coordinate. In response to the respective markings, respective probabilities are computed for the pixel coordinates, so that the respective probability for the representative pixel coordinate is computed in response to the respective markings of all pixel coordinates within the window. In response to the respective probabilities, at least one object is detected within the image.